gst_app_sink_pull_buffer takes a long time to get data from a pipeline (about 130ms)
Aldo Biziak
aldobiziak at gmail.com
Thu Mar 1 08:07:17 PST 2012
Good morning all,
I'm building a simple C application that use appsink to get buffer of data
from a pipeline (this last pipeline creates data reading images from a
webcam 30fps):
GstBuffer* buf = gst_app_sink_pull_buffer(GST_APP_SINK(sink));
this function require at least 130ms (7.6fps) of processing time, so I
can't grab images in real time mode (30fps).
I compiled my application with -O2 optimizer option and I use a PC not bad
with a dual core 2.1GHz (x86).
How to get a faster function to work in real time mode?
This is the code of my application:
#include <gst/gst.h>
#include <gst/app/gstappsink.h>
#include <gst/app/gstappbuffer.h>
#include <gst/base/gstbasesink.h>
#include <string>
#include <iostream>
#include <sstream>
#include <map>
#include <vector>
/***** section to measure performances***********/
#define DEBUG_FRAMERATE
#ifdef DEBUG_FRAMERATE
#include <time.h>
#include <sys/time.h>
#define NUM_OF_FRAMES_TO_CATCH_TO_CALCULATE_FPS 30
int frame_counter =0;
struct timespec timestamp1;
#endif
/**************************************************/
using namespace std;
typedef struct
{
GMainLoop *loop;
GstElement *source;
GstElement *sink;
}ProgramData;
int main(char **argc, int argv[]){
string cameraDevice;
bool alwaysCopy;
string encoding;
string formatSpecificEncoding;
int width;
int height;
int bpp; // bit per pixel
int depth;
int redMask;
int greenMask;
int blueMask;
int endianness;
bool interlaced;
int framerate;
int brightness;
int contrast;
int saturation;
int hue;
bool gstreamerPad;
bool rosPad;
int num;
double meanTime;
GstElement *pipeline;
GstElement *sink;
cameraDevice = "/dev/video0";
alwaysCopy = false;
encoding = "video/x-raw-rgb";
formatSpecificEncoding = "YUY2";
width = 640;
height = 480;
bpp = 24;
depth = 24;
redMask = 16711680;
greenMask = 65280;
blueMask = 255;
endianness = 4321;
interlaced = false;
framerate = 15;
brightness = 0;
contrast = 0;
saturation = 0;
hue = 0;
meanTime = 0;
num = 0;
stringstream camConfigStream;#include <gst/gst.h>
#include <gst/app/gstappsink.h>
#include <gst/app/gstappbuffer.h>
#include <gst/base/gstbasesink.h>
#include <string>
#include <iostream>
#include <sstream>
#include <map>
#include <vector>
/***** section to measure performances***********/
#define DEBUG_FRAMERATE
#ifdef DEBUG_FRAMERATE
#include <time.h>
#include <sys/time.h>
#define NUM_OF_FRAMES_TO_CATCH_TO_CALCULATE_FPS 30
int frame_counter =0;
struct timespec timestamp1;
#endif
/**************************************************/
using namespace std;
typedef struct
{
GMainLoop *loop;
GstElement *source;
GstElement *sink;
}ProgramData;
int main(char **argc, int argv[]){
string cameraDevice;
bool alwaysCopy;
string encoding;
string formatSpecificEncoding;
int width;
int height;
int bpp; // bit per pixel
int depth;
int redMask;
int greenMask;
int blueMask;
int endianness;
bool interlaced;
int framerate;
int brightness;
int contrast;
int saturation;
int hue;
bool gstreamerPad;
bool rosPad;
int num;
double meanTime;
GstElement *pipeline;
GstElement *sink;
cameraDevice = "/dev/video0";
alwaysCopy = false;
encoding = "video/x-raw-rgb";
formatSpecificEncoding = "YUY2";
width = 640;
height = 480;
bpp = 24;
depth = 24;
redMask = 16711680;
greenMask = 65280;
blueMask = 255;
endianness = 4321;
interlaced = false;
framerate = 15;
brightness = 0;
contrast = 0;
saturation = 0;
hue = 0;
meanTime = 0;
num = 0;
stringstream camConfigStream;
camConfigStream << "v4l2src device=" << cameraDevice; // /dev/video0
camConfigStream << " always-copy=";
if(alwaysCopy){
camConfigStream << "true";
}else{
camConfigStream << "false";
}
camConfigStream << " ! capsfilter caps=\" ";
camConfigStream << encoding; //"video/x-raw-rgb
if(encoding.find("rgb") != string::npos){
camConfigStream << ", bpp=(int)" << bpp; //24
camConfigStream << ", depth=(int)" << depth; //24
camConfigStream << ", red_mask=(int)" << redMask; //16711680
camConfigStream << ", green_mask=(int)" << greenMask; //65280
camConfigStream << ", blue_mask=(int)" << blueMask; //255
camConfigStream << ", endianness=(int)" << endianness; //4321
}else if(encoding.find("yuv") != string::npos){
camConfigStream << ", format=" << formatSpecificEncoding; //YUY2
}
camConfigStream << ", width=(int)" << width; //640
camConfigStream << ", height=(int)" << height; //480
camConfigStream << ", interlaced=(boolean)";
if(interlaced){
camConfigStream << "true";
}else{
camConfigStream << "false";
}
camConfigStream << ", framerate=(fraction)" << framerate << "/1"; //15
camConfigStream << ", brightness=(int)" << brightness; //0
camConfigStream << ", contrast=(int)" << contrast; //0
camConfigStream << ", saturation=(int)" << saturation; //0
camConfigStream << ", hue=(int)" << hue; //0
camConfigStream << "\" ";
gst_init(0,0);
cout<< "Gstreamer Version: " << gst_version_string() << endl;
GError *error = 0; //assignment to zero is a gst requirement
pipeline = gst_parse_launch(camConfigStream.str().c_str(),&error);
if (pipeline == NULL) {
cout << error->message << endl;
exit(-1);
}
sink = gst_element_factory_make("appsink",NULL);
if(!sink){
cout << "Sink creation failed" << endl;
}
string capFormat = encoding;
GstCaps * caps_alone = gst_caps_new_simple(capFormat.c_str(), NULL);
gst_app_sink_set_caps(GST_APP_SINK(sink), caps_alone);
gst_caps_unref(caps_alone);
gst_base_sink_set_sync(GST_BASE_SINK(sink), true);
if(GST_IS_PIPELINE(pipeline)) {
GstPad *outpad = gst_bin_find_unlinked_pad(GST_BIN(pipeline), GST_PAD_SRC);
g_assert(outpad);
GstElement *outelement = gst_pad_get_parent_element(outpad);
g_assert(outelement);
gst_object_unref(outpad);
if(!gst_bin_add(GST_BIN(pipeline), sink)) {
cout << "gst_bin_add() failed\n" << endl; // TODO: do some unref
gst_object_unref(outelement);
gst_object_unref(pipeline);
return -1;
}
if(!gst_element_link(outelement, sink)) {
cout << "GStreamer: cannot link outelement(\"" <<
gst_element_get_name(outelement) << "\") -> sink\n" << endl;
gst_object_unref(outelement);
gst_object_unref(pipeline);
return -1;
}
gst_object_unref(outelement);
} else {
GstElement* launchpipe = pipeline;
pipeline = gst_pipeline_new(NULL);
g_assert(pipeline);
gst_object_unparent(GST_OBJECT(launchpipe));
gst_bin_add_many(GST_BIN(pipeline), launchpipe, sink, NULL);
if(!gst_element_link(launchpipe, sink)) {
cout << "GStreamer: cannot link launchpipe -> sink\n" << endl;
gst_object_unref(pipeline);
return -1;
}
}
gst_element_set_state(pipeline, GST_STATE_PAUSED);
if (gst_element_get_state(pipeline, NULL, NULL, -1) ==
GST_STATE_CHANGE_FAILURE) {
cout << "Failed to PAUSE." << endl;
exit(-1);
} else {
cout<< "stream is PAUSED." << endl;
}
// We could probably do something with the camera name, check
// errors or something, but at the moment, we don't care.
std::string camera_name;
//TODO
// if
(camera_calibration_parsers::readCalibrationIni("../camera_parameters.txt",
camera_name, camera_info)) {
// ROS_INFO("Successfully read camera calibration. Rerun camera calibrator
if it is incorrect.");
// }
// else {
// ROS_ERROR("No camera_parameters.txt file found. Use default file if no
other is available.");
// }
//TODO
bool preroll = false;
if (preroll) {
//The PAUSE, PLAY, PAUSE, PLAY cycle is to ensure proper pre-roll
//I am told this is needed and am erring on the side of caution.
gst_element_set_state(pipeline, GST_STATE_PLAYING);
if (gst_element_get_state(pipeline, NULL, NULL, -1) ==
GST_STATE_CHANGE_FAILURE) {
cout << "Failed to PLAY." << endl;
exit(-1);
} else {
cout << "stream is PLAYING." << endl;
}
gst_element_set_state(pipeline, GST_STATE_PAUSED);
if (gst_element_get_state(pipeline, NULL, NULL, -1) ==
GST_STATE_CHANGE_FAILURE) {
cout << "Failed to PAUSE." << endl;
exit(-1);
} else {
cout<< "stream is PAUSED." << endl;
}
}
// TODO
// image_transport::ImageTransport it(nh);
// image_transport::CameraPublisher pub =
it.advertiseCamera("gscam/image_raw", 1);
//
// ros::ServiceServer set_camera_info =
nh.advertiseService("gscam/set_camera_info", setCameraInfo);
std::cout << "Processing..." << std::endl;
//processVideo
rosPad = false;
gstreamerPad = true;
gst_element_set_state(pipeline, GST_STATE_PLAYING);
#ifdef DEBUG_FRAMERATE
clock_gettime(CLOCK_REALTIME, ×tamp1);
#endif
while(1){
GstBuffer* buf = gst_app_sink_pull_buffer(GST_APP_SINK(sink));
if (!buf){
return -1;
}
GstPad* pad = gst_element_get_static_pad(sink, "sink"); //TODO spostare sink
GstCaps *caps = gst_pad_get_negotiated_caps(pad);
GstStructure *structure = gst_caps_get_structure(caps,0);
gst_structure_get_int(structure,"width",&width);
gst_structure_get_int(structure,"height",&height);
gst_buffer_unref(buf);
//printf("fatto\n");
#ifdef DEBUG_FRAMERATE
frame_counter++;
if(frame_counter%NUM_OF_FRAMES_TO_CATCH_TO_CALCULATE_FPS==0){
struct timespec timestamp2;
clock_gettime(CLOCK_REALTIME, ×tamp2);
long int sec=timestamp2.tv_sec - timestamp1.tv_sec;
long int nsec=timestamp2.tv_nsec - timestamp1.tv_nsec;
long milliseconds=(sec*1000000)+nsec/1000.0;
printf("time to send one frame: %.02f
ms\n",(float)milliseconds/(float)NUM_OF_FRAMES_TO_CATCH_TO_CALCULATE_FPS);
frame_counter=0;
clock_gettime(CLOCK_REALTIME, ×tamp1);
}
#endif
}
return 0;
}
camConfigStream << "v4l2src device=" << cameraDevice; // /dev/video0
camConfigStream << " always-copy=";
if(alwaysCopy){
camConfigStream << "true";
}else{
camConfigStream << "false";
}
camConfigStream << " ! capsfilter caps=\" ";
camConfigStream << encoding; //"video/x-raw-rgb
if(encoding.find("rgb") != string::npos){
camConfigStream << ", bpp=(int)" << bpp; //24
camConfigStream << ", depth=(int)" << depth; //24
camConfigStream << ", red_mask=(int)" << redMask; //16711680
camConfigStream << ", green_mask=(int)" << greenMask; //65280
camConfigStream << ", blue_mask=(int)" << blueMask; //255
camConfigStream << ", endianness=(int)" << endianness; //4321
}else if(encoding.find("yuv") != string::npos){
camConfigStream << ", format=" << formatSpecificEncoding; //YUY2
}
camConfigStream << ", width=(int)" << width; //640
camConfigStream << ", height=(int)" << height; //480
camConfigStream << ", interlaced=(boolean)";
if(interlaced){
camConfigStream << "true";
}else{
camConfigStream << "false";
}
camConfigStream << ", framerate=(fraction)" << framerate << "/1"; //15
camConfigStream << ", brightness=(int)" << brightness; //0
camConfigStream << ", contrast=(int)" << contrast; //0
camConfigStream << ", saturation=(int)" << saturation; //0
camConfigStream << ", hue=(int)" << hue; //0
camConfigStream << "\" ";
gst_init(0,0);
cout<< "Gstreamer Version: " << gst_version_string() << endl;
GError *error = 0; //assignment to zero is a gst requirement
pipeline = gst_parse_launch(camConfigStream.str().c_str(),&error);
if (pipeline == NULL) {
cout << error->message << endl;
exit(-1);
}
sink = gst_element_factory_make("appsink",NULL);
if(!sink){
cout << "Sink creation failed" << endl;
}
string capFormat = encoding;
GstCaps * caps_alone = gst_caps_new_simple(capFormat.c_str(), NULL);
gst_app_sink_set_caps(GST_APP_SINK(sink), caps_alone);
gst_caps_unref(caps_alone);
gst_base_sink_set_sync(GST_BASE_SINK(sink), true);
if(GST_IS_PIPELINE(pipeline)) {
GstPad *outpad = gst_bin_find_unlinked_pad(GST_BIN(pipeline), GST_PAD_SRC);
g_assert(outpad);
GstElement *outelement = gst_pad_get_parent_element(outpad);
g_assert(outelement);
gst_object_unref(outpad);
if(!gst_bin_add(GST_BIN(pipeline), sink)) {
cout << "gst_bin_add() failed\n" << endl; // TODO: do some unref
gst_object_unref(outelement);
gst_object_unref(pipeline);
return -1;
}
if(!gst_element_link(outelement, sink)) {
cout << "GStreamer: cannot link outelement(\"" <<
gst_element_get_name(outelement) << "\") -> sink\n" << endl;
gst_object_unref(outelement);
gst_object_unref(pipeline);
return -1;
}
gst_object_unref(outelement);
} else {
GstElement* launchpipe = pipeline;
pipeline = gst_pipeline_new(NULL);
g_assert(pipeline);
gst_object_unparent(GST_OBJECT(launchpipe));
gst_bin_add_many(GST_BIN(pipeline), launchpipe, sink, NULL);
if(!gst_element_link(launchpipe, sink)) {
cout << "GStreamer: cannot link launchpipe -> sink\n" << endl;
gst_object_unref(pipeline);
return -1;
}
}
gst_element_set_state(pipeline, GST_STATE_PAUSED);
if (gst_element_get_state(pipeline, NULL, NULL, -1) ==
GST_STATE_CHANGE_FAILURE) {
cout << "Failed to PAUSE." << endl;
exit(-1);
} else {
cout<< "stream is PAUSED." << endl;
}
// We could probably do something with the camera name, check
// errors or something, but at the moment, we don't care.
std::string camera_name;
//TODO
// if
(camera_calibration_parsers::readCalibrationIni("../camera_parameters.txt",
camera_name, camera_info)) {
// ROS_INFO("Successfully read camera calibration. Rerun camera calibrator
if it is incorrect.");
// }
// else {
// ROS_ERROR("No camera_parameters.txt file found. Use default file if no
other is available.");
// }
//TODO
bool preroll = false;
if (preroll) {
//The PAUSE, PLAY, PAUSE, PLAY cycle is to ensure proper pre-roll
//I am told this is needed and am erring on the side of caution.
gst_element_set_state(pipeline, GST_STATE_PLAYING);
if (gst_element_get_state(pipeline, NULL, NULL, -1) ==
GST_STATE_CHANGE_FAILURE) {
cout << "Failed to PLAY." << endl;
exit(-1);
} else {
cout << "stream is PLAYING." << endl;
}
gst_element_set_state(pipeline, GST_STATE_PAUSED);
if (gst_element_get_state(pipeline, NULL, NULL, -1) ==
GST_STATE_CHANGE_FAILURE) {
cout << "Failed to PAUSE." << endl;
exit(-1);
} else {
cout<< "stream is PAUSED." << endl;
}
}
// TODO
// image_transport::ImageTransport it(nh);
// image_transport::CameraPublisher pub =
it.advertiseCamera("gscam/image_raw", 1);
//
// ros::ServiceServer set_camera_info =
nh.advertiseService("gscam/set_camera_info", setCameraInfo);
std::cout << "Processing..." << std::endl;
//processVideo
rosPad = false;
gstreamerPad = true;
gst_element_set_state(pipeline, GST_STATE_PLAYING);
#ifdef DEBUG_FRAMERATE
clock_gettime(CLOCK_REALTIME, ×tamp1);
#endif
while(1){
GstBuffer* buf = gst_app_sink_pull_buffer(GST_APP_SINK(sink));
if (!buf){
return -1;
}
GstPad* pad = gst_element_get_static_pad(sink, "sink"); //TODO spostare sink
GstCaps *caps = gst_pad_get_negotiated_caps(pad);
GstStructure *structure = gst_caps_get_structure(caps,0);
gst_structure_get_int(structure,"width",&width);
gst_structure_get_int(structure,"height",&height);
gst_buffer_unref(buf);
//printf("fatto\n");
#ifdef DEBUG_FRAMERATE
frame_counter++;
if(frame_counter%NUM_OF_FRAMES_TO_CATCH_TO_CALCULATE_FPS==0){
struct timespec timestamp2;
clock_gettime(CLOCK_REALTIME, ×tamp2);
long int sec=timestamp2.tv_sec - timestamp1.tv_sec;
long int nsec=timestamp2.tv_nsec - timestamp1.tv_nsec;
long milliseconds=(sec*1000000)+nsec/1000.0;
printf("time to send one frame: %.02f
ms\n",(float)milliseconds/(float)NUM_OF_FRAMES_TO_CATCH_TO_CALCULATE_FPS);
frame_counter=0;
clock_gettime(CLOCK_REALTIME, ×tamp1);
}
#endif
}
return 0;
}
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